What's Changed
This release is a significant milestone as Struckig has finally catched-up with the latest version of its C++ counterpart 🥳. All the features supported in the Ruckig Community Edition are now integrated into Struckig, serving as a native PLC library coded in Structured Text. With its independence from external dependencies, this library is compatible with all CODESYS runtimes.
- Support for both infinite and zero acceleration order kinematic jerk limits (added first order calculations)
- In addition to jerk-limited trajectories, Struckig can now also calculate simpler (second or first order) trajectories by setting the jerk limit and acceleration limit to infinite, respecitively. While this type of trajectories are less smooth and may produce wear on mechanical parts, they are much faster and simpler to compute. This feature can be used if targets with poor performance want to use Struckig for online-trajectory generation.
- Fixed several div0 exceptions in velocity interface
Full Changelog: v0.10.0...v0.12.2